JP5652374B2 - Vehicle headlamp control device - Google Patents

Description

  The present invention relates to a vehicle headlamp control device.

  Conventionally, a technique of a vehicle headlamp control device that controls the optical axis of a headlamp in accordance with the position of another vehicle or the like is known (see, for example, Patent Document 1).

No. 2006-21631

  However, it is necessary to change the control method of the optical axis of the headlamps depending on whether the road on which the host vehicle is driving is the left side driving road or the right side driving road. Since there was no means for judging whether the road was on the right side, there was a problem that the vehicle headlight control device had to be manufactured for the area where the left side road was adopted and for the area where the right side road was adopted. .

  In view of the above problems, the present invention provides a vehicle headlamp control device that estimates whether a road on which the host vehicle is traveling is a left-side traveling road or a right-side traveling road and performs optical axis control according to the estimation result. This is the first purpose.

  Further, according to the study by the inventor, it is possible to change the method of controlling the optical axis of the headlamp according to the number of lanes in which the host vehicle is traveling. In view of the above, the present invention provides a vehicle headlamp control device that estimates the number of lanes on a road on which the host vehicle is traveling and performs optical axis control in accordance with the estimated number of lanes. Objective.

  Further, according to the inventor's study, it is possible to change the control method of the optical axis of the headlamp according to the position of the other vehicle relative to the own vehicle. In view of the above points, it is a third object of the present invention to provide a vehicle headlamp control device that performs optical axis control of a headlamp in accordance with the position of another vehicle with respect to the host vehicle.

  The invention according to claim 1 for achieving the first object is a vehicle headlamp control device mounted on a vehicle, wherein the light source of the other vehicle is shown in a photographed image in front of the vehicle. The position of the preceding vehicle / oncoming vehicle detection means (120) for detecting whether the vehicle is the light source of the preceding vehicle or the light source of the oncoming vehicle and the light source of the other vehicle in the captured image in the captured image Vehicle position coordinate detection means (130) for acquiring coordinates and detecting the position coordinates of the other vehicle in the captured image based on the acquired position coordinates of the light source; and the preceding vehicle / oncoming vehicle detection means (120 ), The position coordinate of the other vehicle is determined based on the position coordinate of the other vehicle detected by the vehicle position coordinate detecting means (130). From the front direction of the vehicle in the captured image When the vehicle is on the right side, the vehicle is estimated to be traveling on a left-hand traffic road. When the position coordinates of the other vehicle are on the left side of the front direction of the vehicle in the captured image, the vehicle is on the right side. According to the estimation results of the left and right lane judging means (140) for estimating that the vehicle is traveling on a traffic road, and the variation in the optical axis of the headlamp (11) of the vehicle according to the estimation result of the left and right lane judging means (140) A vehicle headlamp control device comprising: a fluctuation allowable range setting means (160) for setting a range.

  In this way, the position coordinates of the other vehicle are specified based on the position coordinates of the light source, the specified position coordinates are right or left of the front direction of the host vehicle, and the road that is running is the left-side traffic road or the right-side traffic road Therefore, it is possible to provide a vehicular headlamp control device that performs optical axis control according to the estimation result.

  According to a second aspect of the present invention, in the vehicular headlamp control device according to the first aspect, the variation allowable range setting means (160) is configured such that the vehicle travels on a left-handed road. When the left and right traveling lane judging means (140) estimates, the vehicle has an allowable range of fluctuation in the left-right direction of the optical axis of the headlamp (11) of the vehicle with respect to the allowable range of fluctuation on the left side of the front direction of the vehicle. When the right and left lane determination means (140) estimates that the vehicle is traveling on a right-hand traffic road, the right-side fluctuation allowable range is set to be larger than the front direction of the vehicle. As the fluctuation tolerance range in the left-right direction of the optical axis of the lamp (11), the fluctuation tolerance range on the left side of the front direction of the vehicle is larger than the fluctuation tolerance range on the right side of the front direction of the vehicle. Configuration And wherein the Rukoto.

  In this way, when driving on the left-hand traffic road, set the allowable fluctuation range on the right side (that is, the side where the oncoming vehicle is) to be larger than the left-hand side from the front direction of the vehicle, and drive on the right-hand traffic road. If this is the case, the left side of the front direction of the vehicle (that is, the side where the oncoming vehicle is located) is set so that the fluctuation tolerance is larger than that of the left side. Optical axis control is possible.

  According to a third aspect of the present invention, in the vehicular headlamp control device according to the first or second aspect of the present invention, the left and right lane judging means (140) is configured such that when the vehicle is not traveling straight ahead, the vehicle It is not estimated whether the vehicle is traveling on a left-handed road or a right-handed road. By doing in this way, it can be estimated more correctly whether it is a left-side traffic road or a right-side traffic road.

  The invention according to claim 4 for achieving the second object is a vehicle headlamp control device mounted on a vehicle, wherein the other vehicle is shown in a photographed image in front of the vehicle. Of the preceding vehicle / oncoming vehicle detection means (120) for detecting whether the light source of the vehicle is the light source of the preceding vehicle or the oncoming vehicle, and the light source of the other vehicle in the captured image Vehicle position coordinate detection means (130) for detecting the position coordinates of the other vehicle in the captured image based on the acquired position coordinates of the light source, and the preceding vehicle / oncoming vehicle detection means. The position of the other vehicle detected by the vehicle position coordinate detecting means (130) based on whether the light source of the other vehicle is the light source of the oncoming vehicle or the light source of the preceding vehicle by (120) The road on which the vehicle is traveling based on the coordinates Lane number judging means (150) for estimating the number of lanes of the vehicle, and fluctuation tolerance for setting the fluctuation tolerance range of the optical axis of the headlamp (11) of the vehicle according to the estimation result of the lane number judging means (150) A vehicle headlamp control device comprising a range setting means (160).

  In this way, whether the other vehicle is a preceding vehicle or an oncoming vehicle, and the position coordinates of the other vehicle are specified, and the number of lanes on the road on which the vehicle is traveling can be estimated according to the specification result. Therefore, it is possible to provide a vehicular headlamp control device that performs optical axis control according to the estimation result.

  According to a fifth aspect of the present invention, in the vehicle headlamp control device according to the fourth aspect, the variation allowable range setting means (160) is estimated by the lane number determination means (150). The larger the number of lanes on the road on which the vehicle is traveling, the wider the allowable range of fluctuation in the left-right direction of the optical axis of the headlamp (11) of the vehicle.

  As described above, the greater the number of lanes, the wider the variation allowable range in the left-right direction of the optical axis of the headlamp (11) of the vehicle, thereby enabling optical axis control according to the difference in the number of lanes.

  Further, the invention according to claim 6 is the vehicle headlamp control device according to claim 4 or 5, wherein the lane number determining means (150) is configured such that when the vehicle is not traveling straight, It is characterized by not estimating the number of lanes on the road that is running. By doing in this way, it can be estimated more correctly whether it is a left-side traffic road or a right-side traffic road.

  Specifically, as in the invention according to claim 7, in the vehicle headlamp control device according to any one of claims 4 to 6, the lane number determining means (150) includes the preceding lane number determining means (150). When the light source of the other vehicle is determined to be the light source of the preceding vehicle by the vehicle / oncoming vehicle detection means (120), the position coordinates of the other vehicle correspond to the position of the lane adjacent to the lane where the vehicle is located. Based on the above, it is determined that the vehicle is traveling on a two-lane road on one side.

  Further, specifically, in the vehicle headlamp control device according to any one of claims 4 to 7, as in the invention according to claim 8, the lane number determination means (150) includes: When the preceding vehicle / oncoming vehicle detection means (120) determines that the light source of the other vehicle is the light source of the oncoming vehicle, the position coordinate of the other vehicle is the position of the next lane next to the lane where the vehicle is located. It is determined that the vehicle is traveling on a two-lane road on one side.

  In addition, the code | symbol in the bracket | parenthesis in the said and the claim shows the correspondence of the term described in the claim, and the concrete thing etc. which illustrate the said term described in embodiment mentioned later. .

1 is a configuration diagram of a vehicle headlamp control system 1. FIG. It is a flowchart of the process which ECU performs. It is a figure in the state where the other vehicle 31 exists in the right front of the own vehicle 30 on the left-side traffic road. It is a figure in the state where the other vehicle 31 exists in the left front of the own vehicle 30 on the right-hand traffic road. It is a figure which shows range division in the picked-up image 20. FIG. It is a figure in the state where the preceding vehicle 32 exists in the right front of the own vehicle. It is a figure in the state where the preceding vehicle 32 exists in the left front of the own vehicle. It is a figure in the state where the oncoming vehicle 31 exists in the front right of the host vehicle. It is a figure in the state where the oncoming vehicle 31 exists in the front right of the host vehicle. It is a figure which illustrates the fluctuation range of the optical axis at the time of left-hand traffic. It is a figure which illustrates the fluctuation range of the optical axis at the time of right-hand traffic.

  Hereinafter, an embodiment of the present invention will be described. In FIG. 1, the structure of the vehicle headlamp control system 1 which concerns on this embodiment is shown. The vehicle headlamp control system 1 is a system that is mounted on a vehicle and controls two headlamps (headlamps) 11 of the vehicle, and includes an image sensor 12, a headlamp drive unit 13, a vehicle speed sensor 14, a rudder. An angle sensor 15, an ECU 16 and the like are included.

  The image sensor 12 includes a camera unit and a detection unit. The camera unit repeatedly captures the road surface in front of the vehicle (for example, periodically at a 1/30 second period), and sequentially outputs captured images to the detection unit. The detection unit sequentially recognizes the photographed image output from the camera unit, thereby recognizing the vehicle as a light source (luminance, shape, color, etc. greater than a predetermined value) captured in the photographed image. Try to detect (object). When one or more light sources can be detected in the photographed image, the position coordinates of each light source that can be detected (position coordinates in the photographed image) are specified. The preceding vehicle / oncoming vehicle information indicating whether the light source is the oncoming vehicle or the oncoming vehicle is created, and the distance from each detected light source to the host vehicle is specified.

  Then, the detection unit outputs the position coordinates in the captured image of each light source, the preceding vehicle / oncoming vehicle information, and the information on the distance from each light source to the host vehicle to the ECU 16 as camera information. .

  Whether the detected light source is the light source of the preceding vehicle (that is, the shining tail lamp) or the light source of the oncoming vehicle (that is, the shining headlamp) is determined based on the color and shape of the light source. Specifically, for example, the vertical position of the light source is substantially the same, there is another light source on the left or right, and the feature amount (for example, shape and color) of the other light source and the light source is predetermined. If it is similar to or more than the reference, the light source is determined to be a light source (head lamp or tail lamp) of another vehicle. If the color of the light source is closer to white than red, the light source is determined to be a light source (headlamp) of the oncoming vehicle. If the color of the light source is closer to red than white, the light source is The light source (tail lamp) of the preceding vehicle is determined.

  Moreover, as a method of specifying the distance from each light source to the host vehicle, either one of the following two specifying methods 1 and 2 may be employed, or both may be used in combination.

  Identification method 1: The camera unit of the image sensor 12 is provided at different positions of the vehicle (specifically, the position of the own vehicle is a position separated in the left-right direction and the position of the own vehicle in the front-rear direction is the same). Two cameras are provided and images are taken simultaneously by the two cameras, and the distance from the front-rear direction position to the light source is specified based on the deviation of the position of the light source in the two captured images obtained as a result. Such a method for specifying the distance of a subject by photographing a stereo image is a well-known technique and is described in, for example, Japanese Patent Laid-Open No. 7-306037.

  Identification method 2: Identify a pair of light sources (head lamp or tail lamp) arranged in the left-right direction as the light source of one vehicle in the captured image. Whether or not two light sources arranged in the left-right direction are a pair of light sources of one vehicle is whether or not the feature quantities (for example, shape and color) of the two light sources are more than a predetermined reference Judge with. And the distance A between those pairs in a picked-up image is specified, and the distance B from the light source of the said pair to the own vehicle is specified from this distance. The correspondence between the distance A and the distance B is determined with reference to what is recorded in the detection unit in advance as a correspondence map. In the correspondence relationship map, the distance B decreases as the distance A increases. As for this correspondence map, a correspondence map corresponding to the characteristics of the camera is created on the assumption that the distance between the headlamps and the distance between the taillamps of the vehicle is constant. Such a specifying method 2 is also well known and is described in JP-A-6-276524 and JP-A-62-1121599.

  Note that the detection unit of the image sensor 12 uses the method described in the identification method 2 above, and in the captured image, a pair of two light sources (head lamp or tail lamp) arranged in the left-right direction as the light source of one vehicle. ) Is specified, and light source pair information indicating which light source pair is the light source of which vehicle is included in the camera information.

  When there is no light source within the shooting range of the camera unit of the image sensor 12, the detection unit of the image sensor unit 12 outputs camera information indicating that no other vehicle exists to the ECU 16.

  The headlamp driving unit 13 is an actuator for controlling lighting, extinguishing, irradiation direction, irradiation range, and the like of the headlamp 11. The headlamp driving unit 13 includes, for each headlamp 11, a swivel motor for changing the irradiation direction of the headlamp 11 in the left-right direction of the vehicle (that is, swiveling). It has a leveling motor that changes the irradiation direction of the headlamp 11 in the vertical direction of the vehicle.

  The vehicle speed sensor 14 outputs a vehicle speed pulse signal corresponding to the vehicle speed to the ECU 16. The ECU 16 can specify the vehicle speed of the host vehicle based on the vehicle speed pulse signal. The steering angle sensor 15 outputs a steering angle signal corresponding to the steering angle of the vehicle to the ECU 16. The ECU 16 can specify the steering angle of the host vehicle based on the steering angle signal.

  The ECU 16 (corresponding to an example of a vehicle headlamp control device) is an electronic control device provided with a microcomputer or the like, and executes an optical axis control of the headlamp 11 by executing a program recorded in the ECU 16 in advance. Various processes are executed.

  Hereinafter, the operation of the vehicle headlamp control system 1 when the headlamp 11 is turned on (for example, at night or when passing through a tunnel) will be described. FIG. 2 shows a flowchart of processing that the ECU 16 repeatedly executes while the vehicle is traveling.

  Then, when the processing of FIG. 2 is started, the ECU 16 first waits until detecting another vehicle ahead of the host vehicle based on the camera information from the image sensor 12 in step 110. While acquiring camera information indicating that no light source is present from the image sensor 12, the ECU 16 outputs a predetermined command to the headlamp driving unit 13 while waiting in step 110, whereby each leveling motor and Each swivel motor is controlled so that the optical axis of each headlamp 11 as a whole faces the front of the host vehicle. Thereby, the predetermined range centering on the front of the host vehicle is illuminated by the headlamp 11.

  When one other vehicle (an oncoming vehicle with a headlamp turned on or a preceding vehicle with a taillight turned on) enters the imaging range of the camera unit of the image sensor 12, the detection unit of the image sensor 12 The light source of the vehicle is detected, the position coordinates in the captured image of the light source, the preceding vehicle / oncoming vehicle information indicating whether the light source is the light source of the preceding vehicle or the oncoming vehicle, and the distance from the light source to the host vehicle The information is output to the ECU 16 as camera information.

  When the ECU 16 acquires such camera information in step 110, the ECU 16 proceeds to step 120 and performs a preceding vehicle / oncoming vehicle detection process. Specifically, based on the acquired camera information, it is detected whether each vehicle ahead of the host vehicle is a preceding vehicle or an oncoming vehicle. Specifically, a pair of light sources belonging to the same vehicle is specified for each vehicle based on position coordinates and pair information included in the acquired camera information, and each vehicle is further determined based on preceding / oncoming vehicle information. The light source pair is identified as the light source (tail lamp) of the preceding vehicle or the light source (head lamp) of the oncoming vehicle, and whether each vehicle is a preceding vehicle or an oncoming vehicle is detected according to the identification result.

  Subsequently, the process proceeds to step 130, where vehicle position coordinates are detected. Specifically, as in step 120, a pair of light sources belonging to the same vehicle is specified, and for each vehicle, the center coordinates of the light source pair of the vehicle (for example, position coordinates (X1, Y1)) The center coordinates ((X1 + X2) / 2, (Y1 + Y2) / 2) of the position coordinates (X2, Y2) are detected as the position coordinates of the vehicle.

  Subsequently, in step 140, left and right traveling lane determination processing is performed. Specifically, it is determined whether the road on which the host vehicle is currently traveling is left-hand traffic or right-hand traffic. Normally, left-hand traffic or right-hand traffic is determined for each region. For example, it is usually left-hand traffic in Japan, and right-hand traffic in France.

  In the left / right lane determination process, specifically, for each oncoming vehicle determined in step 120, based on the position coordinates in the captured image of each oncoming vehicle detected in step 130, the horizontal direction in the captured image. It is determined whether there is an oncoming vehicle on the right side or on the left side of the center position (corresponding to the front direction of the host vehicle). If it is determined that there is an oncoming vehicle on the right side of the center position in the left-right direction, it is determined that the host vehicle is traveling on the left-hand traffic road, and it is determined that there is an oncoming vehicle on the left side of the center position in the left-right direction. In this case, it is determined that the host vehicle is traveling on the right-hand traffic road.

  For example, as shown in FIG. 3, when the oncoming vehicle 31 is on the right side with respect to the own vehicle 30, the position coordinate of the oncoming vehicle 31 is on the right side of the center, so the own vehicle is determined to be left-hand traffic. However, as shown in FIG. 4, when the oncoming vehicle 31 is on the left side with respect to the own vehicle 30, the position coordinate of the oncoming vehicle 31 is on the left side of the center, so it is determined that the own vehicle is right-hand traffic. To do.

  However, there are cases where the left and right lane determination processing is not performed in step 140. Specifically, if no oncoming vehicle is detected in step 130, the process proceeds to step 150 in step 140 without performing the left / right lane determination process.

  Even when the host vehicle is not traveling straight ahead, the process proceeds to step 150 in step 140 without performing the left and right traveling lane determination processing. This is because when the host vehicle is running on a curve, the oncoming vehicle may be on the left side of the front of the host vehicle even if the vehicle is on the left side. This is because there is a high possibility that the left and right lane determination processing will be inaccurate. Whether or not the host vehicle is traveling straight is determined based on the steering angle specified based on the steering angle signal from the steering angle sensor 15 and the vehicle speed specified based on the vehicle speed pulse signal from the vehicle speed sensor 14. The vehicle is traveling straight when the vehicle is traveling over a reference travel distance (for example, 200 meters) while maintaining a state where the steering angle is zero (that is, the vehicle is traveling straight). In other cases, it is determined that the host vehicle is not traveling straight ahead.

  As described above, when the left / right traveling lane determination process is not performed in step 140, the result of the last left / right traveling lane determination process among the left / right traveling lane determination processes performed in the past is maintained as it is. If the left / right lane determination process has not been performed once after the operation of the vehicle headlamp control system 1 is started, it is uncertain whether the vehicle is driving on a left-handed road or a right-handed road. And

  Subsequent to step 140, at step 150, the number of lanes is determined. In the lane number determination process, one or both of the preceding vehicle and the oncoming vehicle detected in step 120 are set as target vehicles, and the host vehicle travels based on the position coordinates in the captured image of each target vehicle detected in step 130. Hereinafter, the lane number determination process for estimating the number of lanes on the road will be described in detail.

  First, the target vehicle is a vehicle at a predetermined distance from the host vehicle among other vehicles detected in step 120 (which may be a preceding vehicle or an oncoming vehicle). The predetermined distance may be, for example, a vehicle located at a position 100 meters away from the host vehicle.

  The distance from the other vehicle to the host vehicle is specified as follows. As in step 120, a pair of light sources belonging to the same other vehicle is specified, and further, for each other vehicle, the distance from each of the light source pair of the other vehicle to the host vehicle is specified based on the acquired camera information. And let the average value of the distance from each of the light source pair of the said vehicle to the own vehicle be the distance from the said other vehicle to the own vehicle. At this time, if there is no other vehicle at a predetermined distance from the own vehicle, the lane number determination process is not performed in step 150.

  When there is another vehicle at a predetermined distance from the host vehicle, the host vehicle is currently traveling based on the position coordinates of the target vehicle in the captured image (identified in step 130) with the vehicle as the target vehicle. Determine the number of road lanes.

  Specifically, as shown in FIG. 5, the position range in the left-right direction of the captured image 20 captured by the camera unit of the image sensor 20 is divided into seven ranges C, L1, L2, L3, R1, R2, and R3. In this range, the position coordinates of the target vehicle belong are specified, and the number of lanes on the road on which the host vehicle is currently traveling is determined according to the specification result.

  The ranges C, L1, L2, L3, R1, R2, and R3 are preset by the manufacturer of the vehicle headlamp control system 1 and recorded in a storage medium (for example, ROM of the ECU 16). Use. As a setting method of the ranges C, L1, L2, L3, R1, R2, and R3, a line 21 corresponding to a position separated from the own vehicle by the predetermined distance (for example, 100 meters) is assumed in the captured image 20. The line 21 is compared with the typical lane position shown in the photographed image, and the range from the left end to the right end of the partial line included in the position of the traveling lane of the host vehicle is set as the range C. The range from the left end to the right end of the partial line included in the position of the driving lane adjacent to the left side of the host vehicle is defined as a range L1, and from the left end of the partial line included in the position of the driving lane adjacent to the left side of the host vehicle. The range from the left end to the right end of the partial line included in the position of the left lane of the host vehicle is the range L3, and the range from the left end of the host vehicle to the right end is the range L3. Included in the next driving lane position The range from the right end to the right end of the partial line is set as range R1, and the range from the right end to the right end of the partial line included in the position of the right adjacent lane of the host vehicle is set as range R2. The range from the right end to the right end of the partial line included in the position of the further right lane next to the right is further defined as a range R3.

  For example, as illustrated in FIG. 6, the host vehicle 30 is in the left lane of the two lanes on one side of the two-lane road, and the preceding vehicle 32 that is separated from the host vehicle 30 by the predetermined distance is in the two lanes. The case where it exists in the right lane is assumed. In this case, the ECU 16 determines that the road is a one-lane two-lane road based on the target vehicle being in the range R1 in the captured image 30 and the target vehicle being a preceding vehicle. More specifically, the forward path side 33 (the side on which the host vehicle is traveling) is one side two lanes, and the return path side 34 (the side opposite to the side on which the host vehicle is traveling) is also one side two lanes, It is determined that the road has a total of 4 lanes.

  When there is a preceding vehicle in the range R1, it is very likely that there is at least one forward lane on the right side of the host vehicle, but there is also a forward lane on the right side or the left side of the host vehicle. Not necessarily. However, in this embodiment, from the viewpoint of not unnecessarily widening the light distribution range, it is determined that there is only a lane that is very likely to exist. In addition, it is possible that not only the forward path side 33 but also the return path side 34 (the side opposite to the side on which the host vehicle is traveling) are two lanes on one side, the number of lanes is the same on both the forward path side and the return path side. Is very expensive.

  Further, as illustrated in FIG. 7, the host vehicle 30 is in the right lane of the two lanes on the one-lane two-lane road, and the preceding vehicle 32 that is separated from the host vehicle 30 by the predetermined distance is out of the two lanes. Assume that the vehicle is in the left lane. In this case, the ECU 16 determines that the road is a one-lane two-lane road based on the target vehicle being in the range L1 in the captured image 30 and the target vehicle being a preceding vehicle. More specifically, it is determined that the forward path side 33 is a one-sided two lane and the return path side 34 is a one-sided two lane, which is a total four-lane road.

  Further, as illustrated in FIG. 8, the host vehicle 30 is in the left lane of the two lanes on the one-lane two-lane road, and the oncoming vehicle 31 away from the host vehicle 30 by the predetermined distance is Assume that the vehicle is in the left lane of two lanes. In this case, the ECU 16 determines that the road is a two-lane road on the basis of the target vehicle being in the range R2 in the captured image 30 and the target vehicle being an oncoming vehicle. More specifically, it is determined that the forward path side 33 is a one-sided two lane and the return path side 34 is a one-sided two lane, which is a total four-lane road.

  In addition, when there is a target vehicle in the range R2 in the captured image 30 and the target vehicle is an oncoming vehicle, as illustrated in FIG. 9, the host vehicle 30 is out of two lanes on a road with two lanes on one side. This also applies to the case where the oncoming vehicle 31 that is in the right lane and is separated from the host vehicle 30 by the predetermined distance exists in the right lane of the two lanes on the return path side 34. In this case as well, the determination conditions of the ECU 16 are the same as those in the case of FIG.

  The fact that there is an oncoming vehicle in the range R2 in the captured image means that there are at least three lanes: the lane in which the host vehicle is traveling, the lane in which the oncoming vehicle is traveling, and the lane between the two lanes, If the lane in between is the forward side, the probability that the forward side is two lanes and the return side is also two lanes is high. Further, if the lane in between is the return route side, there is a high possibility that the return route side is two lanes and the forward route side is similarly two lanes. After all, when there is a range R2 oncoming vehicle in the captured image, there is a high possibility that the forward side 33 is one side two lanes and the return side 34 is one side two lanes, which is a total four lane road.

  From the same viewpoint, although not shown in the drawing, the ECU 16 has a target vehicle in the range L2 in the captured image 30, and based on the fact that the target vehicle is a preceding vehicle, the forward side is a one-sided two lane, The side is also one lane, and it is determined that the road is a total of four lanes.

  Further, as illustrated in FIGS. 3 and 4, the host vehicle 30 is in the forward lane on one side of the road, and the oncoming vehicle 32 away from the host vehicle 30 by the predetermined distance is on the return side. Assume that the vehicle is in a lane. In this case, the ECU 16 has a target vehicle in the range R1 in the captured image 30, and based on the fact that the target vehicle is an oncoming vehicle, the forward path side is one lane and the return path side is also one lane. It is determined that the road is a two-lane road.

  Although not shown, based on the fact that there is a target vehicle in the range R3 in the captured image 30 and the target vehicle is an oncoming vehicle, the forward path side is one-sided three lanes, and the return path side is also one-sided three lanes, It is determined that the road has a total of 6 lanes. Further, there is a target vehicle in the range L3 in the photographed image 30, and based on the fact that the target vehicle is an oncoming vehicle, the forward side is one lane and the return side is also one lane, for a total of six lanes It is determined that

  Thus, the ECU 16 determines the number of lanes on the road on which the host vehicle is traveling, depending on the range (C, R1 to R3, L1 to L3) where the target vehicle exists and whether the target vehicle is a preceding vehicle or an oncoming vehicle. presume.

  As described above, when there is no other vehicle at a predetermined distance from the host vehicle, the process proceeds to step 160 without performing the lane number determination process in step 150, but the host vehicle is not traveling straight ahead. Even in this case, in step 150, the process proceeds to step 160 without performing the lane number determination process. This is because when the host vehicle is traveling on a curve, there is a high possibility that the number of lanes will be inaccurate when determining the number of lanes based on the position of another vehicle. Further, regarding the range where the target vehicle exists (C, R1 to R3, L1 to L3) and the condition whether the target vehicle is a preceding vehicle or an oncoming vehicle, conditions other than the exemplified conditions (for example, the target vehicle exists in the range C) In this case, the process may proceed to step 160 without performing the lane number determination process of step 150.

  As described above, when the lane number determination process is not performed in step 150, the result of the last lane number determination process among the lane number determination processes performed in the past is maintained as it is. When the lane number determination process has not been performed once after the vehicle headlamp control system 1 starts operating, it is determined that the host vehicle is traveling on a road of one lane on one side. 11 swings the optical axis to a minimum.

  Subsequently, in step 160, the irradiation direction of the headlamp is controlled based on the processing results of steps 140 and 150.

  As shown in the description of steps 140 and 150, the ECU 16 estimates whether the road on which the host vehicle is traveling is right-hand traffic or left-hand traffic, and the number of lanes on the road on which the host vehicle is traveling.

  In step 160, an allowable variation range of the optical axis is set according to the estimation result. Specifically, when it is estimated that the host vehicle is traveling on a left-handed road, the allowable range of fluctuation of the optical axis of the headlamp 11 is adjusted as shown in FIG. Although only the right headlamp 11 is shown in the figure, the same applies to the left headlamp 11.

  Specifically, when it is estimated that the vehicle travels on all two-lane roads, one lane on the outward path and one lane on the return path, a direction shifted to the left side by an angle θ1a with respect to the front direction 40 of the host vehicle 30 Only the range from 41a to the direction 41b shifted to the right side by the angle θ1b with respect to the front direction 40 is set as a variation allowable range.

  The angle θ1b is larger than the angle θ1a. This is because when you are driving on a left-handed road, there is a return road on the right side. This is because there is a high possibility that it will occur.

  In addition, when it is estimated that the vehicle is traveling on all four lane roads of the forward lane 2 lane and the return lane 2 lane, from the direction 42 a shifted to the left side by an angle θ 2 a with respect to the front direction 40 of the host vehicle 30, Only the range up to the direction 42b shifted to the right side by an angle θ2b (similarly larger than the angle θ2a) with respect to the front direction 40 is set as a variation allowable range.

  Note that the angle θ2a is larger than the angle θ1a. This is because, in the case of a one-sided two-lane road, there is a high possibility that there is a lane on the left side of the host vehicle, and the possibility of dazzling pedestrians accordingly is low. It is.

  Further, the angle θ2b is larger than the angle θ1b. This is because the one-sided two-lane road has a larger lateral distance between the oncoming vehicle and the host vehicle than the one-sided one-lane road. In other words, when the optical axis is directed from the own vehicle to the oncoming vehicle at the same distance, the greater the distance between the oncoming vehicle and the own vehicle is, the greater the angle at which the optical axis must be tilted from the front of the own vehicle. It is. By doing in this way, an oncoming vehicle can be illuminated closer.

  In addition, when it is estimated that the vehicle travels on all six lanes of the forward lane 3 lane and the return lane 3 lane, from the direction 43 a shifted to the left side by the angle θ 3 a with respect to the front direction 40 of the host vehicle 30, Only a range up to a direction 43b that is shifted to the right side by an angle θ3b (similarly larger than the angle θ3a) with respect to the front direction 40 is set as a variation allowable range. The angle θ3a is larger than the angle θ2a, and the angle θ3b is larger than the angle θ2b.

  Further, when it is estimated that the host vehicle is traveling on a right-hand traffic road, as shown in FIG. 11, the variation allowable range of the optical axis of the headlamp 11 is adjusted. Although only the right headlamp 11 is shown in the figure, the same applies to the left headlamp 11.

  Specifically, when it is estimated that the vehicle travels on all two-lane roads of one lane on the outward path and one lane on the return path, the direction is shifted to the left by an angle φ1a with respect to the front direction 40 of the host vehicle 30. Only the range from 51a to the direction 51b shifted to the right side by the angle φ1b with respect to the front direction 40 is set as a variation allowable range. Note that the angle φ1b is smaller than the angle φ1a, contrary to when traveling on the left-hand road.

  In addition, when it is estimated that the vehicle is traveling on all four lanes of the forward lane 2 lane and the return lane 2 lane, from the direction 52 a shifted to the left side by an angle φ2 a with respect to the front direction 40 of the host vehicle 30, Only the range up to the direction 52b shifted to the right side by an angle φ2b (similarly smaller than the angle φ2a) with respect to the front direction 40 is set as a variation allowable range.

  Note that the angle φ2b is larger than the angle φ1b. This is because, in the case of a one-sided two-lane road, it is more likely that there is a lane on the right side of the host vehicle than that of a one-sided two-lane road. It is.

  Further, the angle φ2a is larger than the angle φ1a. This is because the one-sided two-lane road has a larger lateral distance between the oncoming vehicle and the host vehicle than the one-sided one-lane road. By doing in this way, an oncoming vehicle can be illuminated closer.

  In addition, when it is estimated that the vehicle travels on all six lanes of the forward lane 3 lane and the return lane 3 lane, from the direction 53 a shifted to the left side by an angle φ3 a with respect to the front direction 40 of the host vehicle 30, Only the range up to the direction 53b shifted to the right side by an angle φ3b (similarly smaller than the angle φ3a) with respect to the front direction 40 is set as a variation allowable range. The angle φ3a is larger than the angle φ2a, and the angle φ3b is larger than the angle φ2b.

  In step 160, the optical axis of each headlamp 11 is further controlled within the allowable fluctuation range. Specifically, among the oncoming vehicle and the preceding vehicle detected in step 120, the other vehicle with the shortest distance to the host vehicle is set as the target vehicle, and the headlamp driving unit 13 is controlled so that the optical axis is directed to the target vehicle. To do.

  However, the other target vehicle as the target vehicle is limited to a vehicle that falls within the variation allowable range determined as described above. Whether or not each vehicle is within the allowable fluctuation range is determined based on the position coordinates of the vehicle in the captured image. At the time of the determination, regarding the correspondence between the position coordinates in the captured image and the direction viewed from the headlamp 11, the correspondence is determined in advance and the information recorded in the storage medium (for example, the ROM of the ECU 16) is referred to. To do.

  Further, when no other vehicle is detected within the allowable fluctuation range, the optical axis of the headlamp driving unit 13 is controlled so that the optical axis of each headlamp 11 is directed in the front direction 40. After step 160, processing returns to step 110. The process of FIG. 2 as described above is repeated.

  Hereinafter, an example of the operation of the vehicle headlamp control system 1 by repeating the processing of FIG. 2 will be described. For example, suppose that the host vehicle lights up the headlamp 11 at night and travels on a left-handed straight road while one oncoming vehicle approaches the host vehicle and the light source of the oncoming vehicle is detected in the captured image. At this time, it is assumed that the distance from the oncoming vehicle to the host vehicle is longer than the predetermined distance described above. At this time, the ECU 16 detects the position coordinate of the oncoming vehicle in step 130 through steps 110 and 120 based on the camera information. In step 140, the oncoming vehicle is on the right side of the center in the captured image. It is determined that the vehicle is traveling on the left-hand traffic road.

  In step 150, since the oncoming vehicle is not at a predetermined distance from the host vehicle, the lane number determination process is not performed and the result of the last lane number determination process is maintained. In this example, it is assumed that the result of the final lane number determination process is a result of traveling on all two-lane roads, that is, one forward lane and one backward lane.

  Then, in step 160, the ECU sets each headlamp 11 on the oncoming vehicle based on the fact that the oncoming vehicle is located within the allowable fluctuation range corresponding to all the two lane roads of the outward lane and the inbound lane. The headlamp driving unit 13 is controlled so as to direct the optical axis.

  Thereafter, as the oncoming vehicle approaches the host vehicle, such processing of steps 110 to 160 is repeated, and the optical axis of the headlamp 11 changes following the direction of the oncoming vehicle. When the distance from the oncoming vehicle to the host vehicle reaches the predetermined distance, the number of lanes is determined at step 150 following steps 11 to 140, and as described above, the shooting of the oncoming vehicle is performed. The number of lanes on the road on which the vehicle is traveling is estimated according to the position in the image.

  In step 160, the variation allowable range is reset according to the estimation result, and it is determined whether the oncoming vehicle is located within the variable allowable range after the reset.

  In this example, the estimation that the vehicle is traveling on all two-lane roads including one forward lane and one return lane was maintained until immediately before the change was made, so the change tolerance was the smallest. Therefore, even if the variation allowable range is reset, the range does not change or only increases, and therefore the oncoming vehicle is positioned within the variation allowable range after the reset.

  Accordingly, the ECU 16 determines in the subsequent step 160 that the oncoming vehicle is located within the variation allowable range after the resetting, and sets the oncoming vehicle as the target vehicle and the headlamp 11 so that the optical axis of the headlamp 11 faces the target vehicle. The lamp driving unit 13 is controlled.

  Thereafter, as the oncoming vehicle gets closer to the host vehicle, the processes of steps 110 to 160 are repeated, and the optical axis of the headlamp 11 changes following the direction of the oncoming vehicle. Meanwhile, since the distance from the oncoming vehicle to the host vehicle is shorter than the predetermined distance, the estimation result of the number of lanes and the allowable fluctuation range are the values at the time when the distance from the oncoming vehicle to the host vehicle is the predetermined distance. Keep things up.

  Then, when the oncoming vehicle deviates from the fluctuation allowable range, the ECU 16 determines in step 160 following steps 110 to 150 that no other vehicle is detected within the fluctuation allowable range, and the front of the host vehicle. The optical axis of the headlamp driving unit 13 is controlled so that the optical axis of each headlamp 11 is directed in the direction 40.

  In addition, for example, while the host vehicle lights up the headlamp 11 at night and travels on a straight road on the left side, the host vehicle approaches one preceding vehicle (in the lane adjacent to the left side of the host vehicle) and the preceding vehicle Is detected in the captured image. At this time, it is assumed that the distance from the preceding vehicle to the host vehicle is longer than the predetermined distance described above. At this time, the ECU 16 detects the position coordinates of the oncoming vehicle in step 130 through steps 110 and 120 based on the camera information. In step 140, there is no oncoming vehicle. To maintain.

  In step 150, since the oncoming vehicle is not at a predetermined distance from the host vehicle, the lane number determination process is not performed and the result of the last lane number determination process is maintained. In this example, it is assumed that the result of the final lane number determination process is a result of traveling on all two-lane roads, that is, one forward lane and one backward lane.

  In step 160, the ECU then sets each headlamp 11 on the preceding vehicle based on the fact that the preceding vehicle is located within the permissible fluctuation range corresponding to all two-lane roads including the outward lane 1 and the inbound lane 1 lane. The headlamp driving unit 13 is controlled so as to direct the optical axis.

  Thereafter, as the preceding vehicle approaches the host vehicle, the processes of steps 110 to 160 are repeated, and the optical axis of the headlamp 11 changes following the direction of the preceding vehicle. When the distance from the preceding vehicle to the host vehicle reaches the predetermined distance, the number of lanes is determined in step 150 following steps 11 to 140, and as described above, the preceding vehicle is photographed. The number of lanes on the road on which the vehicle is traveling is estimated according to the position in the image. In this case, since the preceding vehicle is in the lane on the left side of the host vehicle, based on the fact that the vehicle position coordinates are in the range L1, the vehicle travels on all four-lane roads, two lanes on the outward path and two lanes on the return path It is determined that

  In step 160, the allowable variation range is reset according to the estimation result, and it is determined whether or not the preceding vehicle is located within the allowable variation range after the reset.

  In this example, the estimation that the vehicle is traveling on all two-lane roads including one forward lane and one return lane was maintained until immediately before the change was made, so the change tolerance was the smallest. Therefore, even if the variation allowable range is reset, the range does not change or only increases, so the preceding vehicle is located within the variable allowable range after the reset.

  Therefore, the ECU 16 determines in the subsequent step 160 that the preceding vehicle is located within the fluctuation allowable range after resetting, and sets the preceding vehicle as the target vehicle and directs the optical axis of the headlamp 11 toward the target vehicle. The lamp driving unit 13 is controlled.

  Thereafter, as the preceding vehicle further approaches the host vehicle, the processes in steps 110 to 160 are repeated, and the optical axis of the headlamp 11 changes following the direction of the preceding vehicle. Meanwhile, since the distance from the preceding vehicle to the own vehicle is shorter than the predetermined distance, the estimation result of the number of lanes and the allowable fluctuation range are the values at the time when the distance from the preceding vehicle to the own vehicle is the predetermined distance. Keep things up.

  And when the said construction vehicle remove | deviates from the fluctuation | variation tolerance | permissible_range, it determines with ECU16 not having detected the other vehicle in the fluctuation | variation tolerance | permissible_range in step 160 following step 110-150, and the front of the own vehicle The optical axis of the headlamp driving unit 13 is controlled so that the optical axis of each headlamp 11 is directed in the direction 40.

  In addition, an example will be described in which a vehicle travels from a left-side traffic road to a right-side traffic road while traveling. Such a case occurs, for example, when moving from England to France by crossing the Dover Channel through the English Channel tunnel.

  In such cases, the vehicle is first on the left-hand road. Then, it is assumed that one oncoming vehicle approaches the own vehicle and the light source of the oncoming vehicle is detected in the captured image while the own vehicle lights up the headlamp 11 and travels on a straight road on the left-hand traffic. At this time, the ECU 16 detects the position coordinate of the oncoming vehicle in step 130 through steps 110 and 120 based on the camera information. In step 140, the oncoming vehicle is on the right side of the center in the captured image. It is determined that the vehicle is traveling on the left-hand traffic road.

  Thereafter, while the host vehicle is traveling on the left-side traffic road, as long as the oncoming vehicle is detected on the straight road, it is determined in step 140 that the vehicle is traveling on the left-side traffic road as described above. Even when the vehicle is not traveling on a straight road or when no oncoming vehicle is detected, the result of the last left / right lane determination process is maintained, so the determination that the vehicle is traveling on the left-handed road is maintained. The While the determination that the vehicle is traveling on the left-side traffic road is maintained, the variation allowable range that is wider on the right side than the left side as shown in FIG. 10 is continuously adopted according to the estimation of the number of lanes.

  After that, suppose that the vehicle entered the right-hand traffic road. Thereafter, while traveling on a straight road and a right-hand traffic road, it is assumed that one oncoming vehicle approaches the host vehicle and the light source of the oncoming vehicle is detected in the captured image. At this time, the ECU 16 detects the position coordinates of the oncoming vehicle in step 130 through steps 110 and 120 based on the camera information. In step 140, the oncoming vehicle is on the left side of the center in the captured image. It is determined that the vehicle is traveling on the right-hand traffic road.

  Thereafter, while the host vehicle is traveling on the right traffic road, as long as the oncoming vehicle is detected on the straight road, it is determined in step 140 that the vehicle is traveling on the right traffic road as described above. Even when the vehicle is not traveling on a straight road or when no oncoming vehicle is detected, the result of the last left / right lane determination process is maintained, so the determination that the vehicle is traveling on the left-handed road is maintained. The While the determination that the vehicle is traveling on the left-side traffic road is maintained, the variation allowable range that is wider on the right side than the left side as shown in FIG. 10 is continuously adopted according to the estimation of the number of lanes.

  As described above, the vehicle headlamp control system 1 according to the present embodiment detects whether the light source of the other vehicle in the captured image in front of the host vehicle is the light source of the preceding vehicle or the light source of the oncoming vehicle. In step 120, the position coordinates of the light source of the other vehicle captured in the captured image are acquired in the captured image, and the position coordinates of the other vehicle in the captured image are detected based on the acquired position coordinates of the light source. (Step 130) When the light source of the other vehicle is determined to be the light source of the oncoming vehicle, the position coordinate of the other vehicle is on the right side of the front direction of the host vehicle in the captured image based on the detected position coordinate of the other vehicle. If the vehicle is on the left-hand road, it is estimated that the vehicle is traveling on the left-hand road. It is estimated that the vehicle is traveling (step 140).

  When it is estimated that the vehicle is traveling on the left-hand traffic road, the left-right variation allowable range of the optical axis of the headlamp 11 is greater than the left-side variation allowable range of the vehicle from the front direction of the host vehicle. Is also set so that the right fluctuation allowable range is larger, and when it is estimated that the vehicle is traveling on the right traffic road, the right fluctuation fluctuation range of the optical axis of the headlamp 11 is set to be larger than the front direction of the host vehicle. Also, with respect to the right fluctuation allowable range, the left fluctuation allowable range is set to be larger than the front direction of the vehicle (160).

  In this way, the position coordinates of the other vehicle are specified based on the position coordinates of the light source, the specified position coordinates are right or left of the front direction of the host vehicle, and the road that is running is the left-side traffic road or the right-side traffic road Can be estimated. If you are traveling on a left-handed road, set the fluctuation tolerance on the right side (that is, the side where the oncoming vehicle is) to be larger than that on the left-hand side. If this is the case, the optical axis corresponding to the difference between the left-hand traffic road and the right-hand traffic road is set by setting the allowable fluctuation range on the left side (that is, the side where the oncoming vehicle is) to be larger than the left side. Control becomes possible.

  Further, when the host vehicle is not traveling straight ahead, the vehicle headlamp control system 1 does not estimate whether the host vehicle is traveling on the left-side traffic road or the right-side traffic road, and maintains the previous estimation result. It is like that. By doing in this way, it can be estimated more correctly whether it is a left-side traffic road or a right-side traffic road.

  The vehicle headlamp control system 1 also determines whether the vehicle travels based on whether the light source of the other vehicle is the light source of the oncoming vehicle or the light source of the preceding vehicle and based on the position coordinates of the other vehicle. The number of road lanes is estimated (step 150), and the larger the estimated number of lanes, the wider the variation allowable range in the left-right direction of the optical axis of the headlamp 11 of the vehicle (step 160, see FIG. 11). .

  In this way, whether the other vehicle is a preceding vehicle or an oncoming vehicle, and the position coordinates of the other vehicle are specified, and the number of lanes on the road on which the vehicle is traveling can be estimated according to the specification result. it can. Further, as the number of lanes increases, the optical axis control corresponding to the difference in the number of lanes becomes possible by widening the left and right fluctuation allowable range of the optical axis of the headlamp (11) of the vehicle.

  For example, as described above, when the light source of the other vehicle is the light source of the preceding vehicle, the position coordinate of the other vehicle is the position of the lane next to the lane in which the vehicle is located (the position in the range R1 or the range in the range L1. It is determined that the vehicle is traveling on a road with two lanes on one side (a road with two lanes on the forward path and a road with two lanes on the return path).

  Further, for example, as described above, when the light source of the other vehicle is the light source of the oncoming vehicle, the position coordinate of the other vehicle is the position of the lane next to the lane where the vehicle is located (the position in the range R2 or It is determined that the vehicle is traveling on a road with two lanes on one side (a road with two lanes on the forward path and a road with two lanes on the return path) on the basis of the fact that the vehicle falls within the range L2.

  Further, the vehicle headlamp control system 1 maintains the previous estimation result without estimating the number of lanes on the road on which the host vehicle is traveling when the host vehicle is not traveling straight ahead. By doing in this way, it can be estimated more correctly whether it is a left-side traffic road or a right-side traffic road.

(Other embodiments)
As mentioned above, although embodiment of this invention was described, the scope of the present invention is not limited only to the said embodiment, The various form which can implement | achieve the function of each invention specific matter of this invention is included. It is. For example, the following forms are also acceptable.

  (1) In the above embodiment, the ECU 16 estimates the number of lanes on the road on which the host vehicle travels based on which range the position in the captured image of the other vehicle falls, and varies according to the estimation result. An acceptable range is set. However, the setting of the fluctuation allowable range does not necessarily have to be performed through estimation of the number of driving lanes on the road.

  For example, in step 150 of FIG. 2, in the left and right lane determination process, it is only necessary to specify where the position coordinates of the target vehicle belong to among the seven ranges C, L1, L2, L3, R1, R2, and R3. It is not necessary to estimate the number of lanes on the road on which the vehicle travels. In this case, when setting the allowable variation range in step 160, the allowable variation range may be set as follows using the range identification result in step 150.

  First, when the position coordinates of the target vehicle belong to the range R1, only the range from the direction 41a to the direction 41b shown in FIG. 10 is set as the allowable variation range. Further, when the position coordinates of the target vehicle belong to the range R2, only the range from the direction 41a to the direction 42b shown in FIG. 10 is set as the allowable fluctuation range. If the position coordinates of the target vehicle belong to the range R3, only the range from the direction 41a to the direction 43b shown in FIG.

  When the position coordinates of the target vehicle belong to the range L1, only the range from the direction 51a to the direction 51b shown in FIG. 11 is set as the allowable fluctuation range. When the position coordinates of the target vehicle belong to the range L2, only the range from the direction 52a to the direction 51b shown in FIG. 11 is set as the allowable variation range. When the position coordinates of the target vehicle belong to the range L3, only the range from the direction 53a to the direction 51b shown in FIG. 11 is set as the allowable variation range.

  When the position coordinate of the target vehicle belongs to the range C, the last set allowable variation range is maintained as it is.

  In this case, the allowable variation range is the same regardless of whether the target vehicle is a preceding vehicle or a target vehicle.

  Thus, in the vehicular headlamp control system 1, the position coordinates in the captured image of the light source of the other vehicle captured in the captured image are acquired, and the captured image is based on the acquired position coordinates of the light source. The position coordinate of the other vehicle in the vehicle is detected (step 130), and as the detected position coordinate of the other vehicle is farther from the position corresponding to the front direction of the host vehicle, the variation allowable range in the left-right direction of the optical axis of the headlamp 11 is increased. May be set widely.

  In this way, whether the other vehicle is a preceding vehicle or an oncoming vehicle, and the position coordinates of the other vehicle are specified, and the head of the vehicle is further away from the position corresponding to the front direction of the vehicle according to the specified result. By setting a wide variation range in the left-right direction of the optical axis of the lamp 11, appropriate optical axis control according to the position of the other vehicle is possible.

  (2) In the above embodiment, when the optical axis is directed to another vehicle, the amount of light applied to the other vehicle may be suppressed in order to suppress dazzling of the driver of the other vehicle. For this purpose, the headlamp driving unit 11 controls the opening and closing of the shutter, and this shutter blocks a part of the light emitted from each headlamp only when the shutter is closed. Only when the optical axis is directed toward the vehicle, it is only necessary to close the shutter so as to block the light applied to the other vehicle.

  (3) Moreover, in the said embodiment, when it is estimated that the own vehicle is drive | working the left-side traffic road, with respect to the fluctuation | variation tolerance range of the left side rather than the front direction of a vehicle as a fluctuation | variation tolerance range of the left-right direction of an optical axis. If the vehicle is set so that the fluctuation range on the right side is larger than the front direction of the vehicle and it is estimated that the host vehicle is traveling on the right-hand traffic road, The variation allowance range on the left side of the vehicle front direction is set to be larger than the variation allowance range on the right side of the front direction. However, this does not necessarily have to be the case, and it is assumed that the host vehicle is traveling on the left-handed road and that the host vehicle is traveling on the right-handed road. It suffices if the permissible fluctuation range is different.

  For example, regarding the allowable variation range of the optical axis on the opposite lane side from the front of the allowable variation range of the headlamp 11 of the own vehicle in the horizontal direction of the optical axis, follow until the oncoming vehicle passes to find a pedestrian as close as possible. The allowable range of fluctuation may be increased as much as possible, but as another way of thinking, even if the oncoming lane side that passes frequently decreases the fluctuation range in consideration of the troublesomeness of operation Good.

  In the latter case, when it is estimated that the host vehicle is traveling on the left-hand traffic road, the left and right fluctuation tolerance range of the optical axis is greater than the fluctuation tolerance range on the left side of the front direction of the vehicle. Is set so that the fluctuation range on the right side is smaller, and if it is estimated that the host vehicle is driving on the right-hand traffic road, the right fluctuation range is the right side of the front direction of the vehicle. Is set such that the left fluctuation allowable range is smaller than the front direction of the vehicle.

  (4) In the above embodiment, the greater the number of lanes on the road on which the host vehicle is traveling, the wider the allowable range of fluctuation in the left-right direction of the optical axis. It is not necessary that the allowable range of fluctuation in the left-right direction of the optical axis changes according to the number of lanes on the road on which the host vehicle is traveling.

  (5) In the above embodiment, the farther the position coordinate of the other vehicle is from the position corresponding to the front direction of the host vehicle, the wider the variation allowable range in the left-right direction of the optical axis is set. This is not necessarily the case, and it is only necessary to change the allowable fluctuation range in the left-right direction of the optical axis in accordance with changes in the position coordinates of other vehicles.

DESCRIPTION OF SYMBOLS 1 Vehicle headlamp control system 11 Head lamp 12 Image sensor 13 Head lamp drive part 14 Vehicle speed sensor 15 Rudder angle sensor 16 ECU
31 Own vehicle 32 Oncoming vehicle 33 Preceding vehicle

Claims (8)

A vehicle headlamp control device mounted on a vehicle,
Preceding vehicle / oncoming vehicle detection means (120) for detecting whether the light source of the other vehicle reflected in the photographed image in front of the vehicle is the light source of the preceding vehicle or the light source of the oncoming vehicle;
The position coordinates in the photographed image of the light source of the other vehicle captured in the photographed image are acquired, and the position coordinates of the other vehicle in the photographed image are detected based on the acquired position coordinates of the light source. Vehicle position coordinate detection means (130);
When the preceding vehicle / oncoming vehicle detection means (120) determines that the light source of the other vehicle is the light source of the oncoming vehicle, it is based on the position coordinates of the other vehicle detected by the vehicle position coordinate detection means (130). When the position coordinates of the other vehicle are on the right side of the front direction of the vehicle in the captured image, it is estimated that the vehicle is traveling on a left-side traffic road, and the position coordinates of the other vehicle are A left and right lane judging means (140) for estimating that the vehicle is running on a right-hand traffic road when the vehicle is on the left side of the front direction of the vehicle in the captured image;
Fluctuation tolerance range setting means (160) for setting a fluctuation tolerance range of the optical axis of the headlamp (11) of the vehicle according to the estimation result of the left and right lane determination means (140). A vehicle headlamp control device.   When the left and right lane determining means (140) estimates that the vehicle is traveling on a left-hand traffic road, the variation allowable range setting means (160) is configured to detect the left and right optical axes of the headlamp (11) of the vehicle. The directional variation allowable range is set so that the right variation allowable range is larger than the vehicle front direction with respect to the left variation allowable range with respect to the vehicle front direction. When the left and right lane judging means (140) estimates that the vehicle is traveling, the right fluctuation of the optical axis of the headlamp (11) of the vehicle is changed to the right of the front direction of the vehicle. The vehicular headlamp control device according to claim 1, wherein the fluctuation allowable range on the left side of the allowable range is set to be larger than the front direction of the vehicle.   The left and right lane judging means (140) does not estimate whether the vehicle is traveling on a left-handed road or a right-handed road when the vehicle is not traveling straight ahead. The vehicle headlamp control device according to 2. A vehicle headlamp control device mounted on a vehicle,
Preceding vehicle / oncoming vehicle detection means (120) for detecting whether the light source of the other vehicle reflected in the photographed image in front of the vehicle is the light source of the preceding vehicle or the light source of the oncoming vehicle;
The position coordinates in the photographed image of the light source of the other vehicle captured in the photographed image are acquired, and the position coordinates of the other vehicle in the photographed image are detected based on the acquired position coordinates of the light source. Vehicle position coordinate detection means (130);
Based on whether the light source of the other vehicle is the light source of the oncoming vehicle or the light source of the preceding vehicle by the preceding vehicle / oncoming vehicle detection unit (120), and the vehicle position coordinate detection unit (130) Lane number judging means (150) for estimating the number of lanes of the road on which the vehicle is traveling based on the position coordinates of the other vehicle detected by
Fluctuation tolerance range setting means (160) for setting a fluctuation tolerance range of the optical axis of the headlamp (11) of the vehicle according to the estimation result of the lane number judgment means (150). A vehicle headlamp control device.   The variation allowable range setting means (160) determines the optical axis of the headlamp (11) of the vehicle as the number of lanes on the road on which the vehicle is traveling estimated by the lane number determination means (150) increases. The vehicular headlamp control device according to claim 4, wherein the allowable range of fluctuation in the left-right direction is widened.   The vehicle headlamp according to claim 4 or 5, wherein the lane number determination means (150) does not estimate the number of lanes on a road on which the vehicle is traveling when the vehicle is not traveling straight ahead. Light control device.   The lane number determination means (150) determines that the position coordinate of the other vehicle is the position of the vehicle when the preceding vehicle / oncoming vehicle detection means (120) determines that the light source of the other vehicle is the light source of the preceding vehicle. The vehicle according to any one of claims 4 to 6, wherein the vehicle is determined to be traveling on a two-lane road on the basis of a position corresponding to a lane adjacent to a lane in which the vehicle is located. Vehicle headlamp control device.   If the preceding vehicle / oncoming vehicle detection means (120) determines that the light source of the other vehicle is a light source of the oncoming vehicle, the lane number determining means (150) 8. The vehicle according to claim 4, wherein the vehicle is determined to be traveling on a two-lane road on one side based on a position corresponding to a lane adjacent to the next lane. The vehicle headlamp control device according to claim 1.

Images